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<div class="title">random_walker.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_SEGMENTATION_IMPL_RANDOM_WALKER_HPP</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_SEGMENTATION_IMPL_RANDOM_WALKER_HPP</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;boost/bimap.hpp&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;Eigen/Sparse&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;{</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keyword">namespace </span>segmentation</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  {</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keyword">namespace </span>detail</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    {</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">class</span> Graph, <span class="keyword">class</span> EdgeWeightMap, <span class="keyword">class</span> VertexColorMap&gt;</div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classpcl_1_1segmentation_1_1detail_1_1_random_walker.html">   65</a></span>&#160;      <span class="keyword">class </span><a class="code" href="classpcl_1_1segmentation_1_1detail_1_1_random_walker.html">RandomWalker</a></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      {</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;          <span class="keyword">typedef</span> <span class="keyword">typename</span> boost::property_traits&lt;VertexColorMap&gt;::value_type Color;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;          <span class="keyword">typedef</span> <span class="keyword">typename</span> boost::property_traits&lt;EdgeWeightMap&gt;::value_type Weight;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;          <span class="keyword">typedef</span> boost::graph_traits&lt;Graph&gt; GraphTraits;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;          <span class="keyword">typedef</span> <span class="keyword">typename</span> GraphTraits::edge_descriptor EdgeDescriptor;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;          <span class="keyword">typedef</span> <span class="keyword">typename</span> GraphTraits::vertex_descriptor VertexDescriptor;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;          <span class="keyword">typedef</span> <span class="keyword">typename</span> GraphTraits::edge_iterator EdgeIterator;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;          <span class="keyword">typedef</span> <span class="keyword">typename</span> GraphTraits::out_edge_iterator OutEdgeIterator;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;          <span class="keyword">typedef</span> <span class="keyword">typename</span> GraphTraits::vertex_iterator VertexIterator;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;          <span class="keyword">typedef</span> <span class="keyword">typename</span> boost::property_map&lt;Graph, boost::vertex_index_t&gt;::type VertexIndexMap;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;          <span class="keyword">typedef</span> boost::iterator_property_map&lt;typename std::vector&lt;Weight&gt;::iterator, VertexIndexMap&gt; VertexDegreeMap;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;          <span class="keyword">typedef</span> Eigen::SparseMatrix&lt;Weight&gt; SparseMatrix;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;          <span class="keyword">typedef</span> Eigen::Matrix&lt;Weight, Eigen::Dynamic, Eigen::Dynamic&gt; Matrix;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;          <span class="keyword">typedef</span> Eigen::Matrix&lt;Weight, Eigen::Dynamic, 1&gt; Vector;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;          <a class="code" href="classpcl_1_1segmentation_1_1detail_1_1_random_walker.html">RandomWalker</a> (Graph&amp; g, EdgeWeightMap weights, VertexColorMap colors)</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;          : g_ (g)</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;          , weight_map_ (weights)</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;          , color_map_ (colors)</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;          , index_map_ (boost::get (boost::vertex_index, g_))</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;          , degree_storage_ (boost::num_vertices (g_), 0)</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;          , degree_map_ (boost::make_iterator_property_map (degree_storage_.begin (), index_map_))</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;          {</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;          }</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;          <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;          segment ()</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;          {</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;            computeVertexDegrees ();</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;            buildLinearSystem ();</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;            <span class="keywordflow">return</span> solveLinearSystem ();</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;          }</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;          computeVertexDegrees ()</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;          {</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;            <span class="keyword">using namespace </span>boost;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;            EdgeIterator ei, e_end;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;            <span class="keywordflow">for</span> (tie (ei, e_end) = edges (g_); ei != e_end; ++ei)</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;            {</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;              Weight w = weight_map_[*ei];</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;              degree_map_[source (*ei, g_)] += w;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;              degree_map_[target (*ei, g_)] += w;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;            }</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;          }</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;          buildLinearSystem ()</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;          {</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;            <span class="keyword">using namespace </span>boost;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;            <span class="keyword">typedef</span> Eigen::Triplet&lt;float&gt; T;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;            <span class="keyword">typedef</span> std::vector&lt;T&gt; Triplets;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;            Triplets L_triplets;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;            Triplets B_triplets;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;            VertexIterator vi, v_end;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;            <span class="keywordflow">for</span> (tie (vi, v_end) = vertices (g_); vi != v_end; ++vi)</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;            {</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;              <span class="comment">// If this is a labeled vertex add it to the seeds list and register its color</span></div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;              <span class="keywordflow">if</span> (color_map_[*vi])</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;              {</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;                seeds_.push_back (*vi);</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;                colors_.insert (color_map_[*vi]);</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;              }</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;              <span class="comment">// Skip seeds and vertices with zero connectivity</span></div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;              <span class="keywordflow">if</span> (color_map_[*vi] || std::fabs (degree_map_[*vi]) &lt; std::numeric_limits&lt;Weight&gt;::epsilon ())</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;                <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;              <span class="comment">// Create a row in L matrix for the vertex</span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;              <span class="keywordtype">size_t</span> current_row = insertInBimap (L_vertex_bimap, *vi);</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;              <span class="comment">// Add diagonal degree entry for the vertex</span></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;              L_triplets.push_back (T (current_row, current_row, degree_map_[*vi]));</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;              <span class="comment">// Iterate over incident vertices and add entries on corresponding columns of L or B</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;              OutEdgeIterator ei, e_end;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;              <span class="keywordflow">for</span> (tie (ei, e_end) = out_edges (*vi, g_); ei != e_end; ++ei)</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;              {</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;                Weight w = weight_map_[*ei];</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;                VertexDescriptor tgt = target (*ei, g_);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;                Color color = color_map_[tgt];</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;                <span class="keywordflow">if</span> (color)</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;                {</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;                  <span class="comment">// This is a seed and will go to B matrix</span></div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;                  <span class="keywordtype">size_t</span> column;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;                  <span class="keywordflow">if</span> (B_color_bimap.right.count (color) == 0)</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;                  {</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;                    <span class="comment">// This is the first time we encountered this color, create a new column in B</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;                    column = insertInBimap (B_color_bimap, color);</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;                  }</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;                  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;                  {</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;                    column = B_color_bimap.right.at (color);</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;                  }</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;                  B_triplets.push_back (T (current_row, column, w));</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;                }</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;                <span class="keywordflow">else</span></div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;                {</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;                  <span class="comment">// This is a non-seed and will go to L matrix,</span></div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;                  <span class="comment">// but only if a row for this vertex already exists</span></div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;                  <span class="keywordflow">if</span> (L_vertex_bimap.right.count (tgt) &amp;&amp; L_vertex_bimap.right.at (tgt) != current_row)</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;                  {</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;                    L_triplets.push_back (T (current_row, L_vertex_bimap.right.at (tgt), -w));</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;                  }</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;                }</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;              }</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;            }</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;            <span class="keywordtype">size_t</span> num_equations = L_vertex_bimap.size ();</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;            <span class="keywordtype">size_t</span> num_colors = B_color_bimap.size ();</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;            L.resize (num_equations, num_equations);</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;            B.resize (num_equations, num_colors);</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;            <span class="keywordflow">if</span> (L_triplets.size ())</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;              L.setFromTriplets(L_triplets.begin(), L_triplets.end());</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;            <span class="keywordflow">if</span> (B_triplets.size ())</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;              B.setFromTriplets(B_triplets.begin(), B_triplets.end());</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;          }</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;          <span class="keywordtype">bool</span> solveLinearSystem()</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;          {</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;            X.resize (L.rows (), B.cols ());</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;            <span class="comment">// Nothing to solve</span></div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;            <span class="keywordflow">if</span> (L.rows () == 0 || B.cols () == 0)</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;              <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;            Eigen::SimplicialCholesky&lt;SparseMatrix, Eigen::Lower&gt; cg;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;            cg.compute (L);</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;            <span class="keywordtype">bool</span> succeeded = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; B.cols (); ++i)</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;            {</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;              Vector b = B.col (i);</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;              X.col (i) = cg.solve (b);</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;              <span class="keywordflow">if</span> (cg.info () != Eigen::Success)</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;                succeeded = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;            }</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;            assignColors ();</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;            <span class="keywordflow">return</span> succeeded;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;          }</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;          assignColors ()</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;          {</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;            <span class="keyword">using namespace </span>boost;</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;            <span class="keywordflow">if</span> (X.cols ())</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;              <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; X.rows (); ++i)</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;              {</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;                <span class="keywordtype">size_t</span> max_column;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;                X.row (i).maxCoeff (&amp;max_column);</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;                VertexDescriptor vertex = L_vertex_bimap.left.at (i);</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;                Color color = B_color_bimap.left.at (max_column);</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;                color_map_[vertex] = color;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;              }</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;          }</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;          getPotentials (Matrix&amp; potentials, std::map&lt;Color, size_t&gt;&amp; color_to_column_map)</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;          {</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;            <span class="keyword">using namespace </span>boost;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;            potentials = Matrix::Zero (num_vertices (g_), colors_.size ());</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;            <span class="comment">// Copy over rows from X</span></div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; X.rows (); ++i)</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;              potentials.row (L_vertex_bimap.left.at (i)).head (X.cols ()) = X.row (i);</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;            <span class="comment">// In rows that correspond to seeds put ones in proper columns</span></div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; seeds_.size (); ++i)</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;            {</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;              VertexDescriptor v = seeds_[i];</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;              insertInBimap (B_color_bimap, color_map_[v]);</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;              potentials (seeds_[i], B_color_bimap.right.at (color_map_[seeds_[i]])) = 1;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;            }</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;            <span class="comment">// Fill in a map that associates colors with columns in potentials matrix</span></div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;            color_to_column_map.clear ();</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; potentials.cols (); ++i)</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;              color_to_column_map[B_color_bimap.left.at (i)] = i;</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;          }</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;          <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;          insertInBimap (boost::bimap&lt;size_t, T&gt;&amp; bimap, T value)</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;          {</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;            <span class="keywordflow">if</span> (bimap.right.count (value) != 0)</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;            {</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;              <span class="keywordflow">return</span> bimap.right.at (value);</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;            }</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;            <span class="keywordflow">else</span></div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;            {</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;              <span class="keywordtype">size_t</span> s = bimap.size ();</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;              bimap.insert (<span class="keyword">typename</span> boost::bimap&lt;size_t, T&gt;::value_type (s, value));</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;              <span class="keywordflow">return</span> s;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;            }</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;          }</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160; </div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;          Graph&amp; g_;</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;          EdgeWeightMap weight_map_;</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;          VertexColorMap color_map_;</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;          VertexIndexMap index_map_;</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;          std::vector&lt;VertexDescriptor&gt; seeds_;</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;          std::set&lt;Color&gt; colors_;</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160; </div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;          std::vector&lt;Weight&gt; degree_storage_;</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;          VertexDegreeMap degree_map_;</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;          SparseMatrix L;</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;          SparseMatrix B;</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;          Matrix X;</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160; </div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;          <span class="comment">// Map vertex identifiers to the rows/columns of L and vice versa</span></div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;          boost::bimap&lt;size_t, VertexDescriptor&gt; L_vertex_bimap;</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;          <span class="comment">// Map colors to the columns of B and vice versa</span></div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;          boost::bimap&lt;size_t, Color&gt; B_color_bimap;</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160; </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      };</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160; </div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    }</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160; </div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">class</span> Graph&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    randomWalker (Graph&amp; graph)</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    {</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;      <span class="keywordflow">return</span> randomWalker (graph,</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;                           boost::get (boost::edge_weight, graph),</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;                           boost::get (boost::vertex_color, graph));</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    }</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160; </div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">class</span> Graph, <span class="keyword">class</span> EdgeWeightMap, <span class="keyword">class</span> VertexColorMap&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;    randomWalker (Graph&amp; graph,</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;                  EdgeWeightMap weights,</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;                  VertexColorMap colors)</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    {</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;      <span class="keyword">using namespace </span>boost;</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160; </div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> graph_traits&lt;Graph&gt;::edge_descriptor EdgeDescriptor;</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> graph_traits&lt;Graph&gt;::vertex_descriptor VertexDescriptor;</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160; </div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;      BOOST_CONCEPT_ASSERT ((VertexListGraphConcept&lt;Graph&gt;));                                 <span class="comment">// to have vertices(), num_vertices()</span></div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;      BOOST_CONCEPT_ASSERT ((EdgeListGraphConcept&lt;Graph&gt;));                                   <span class="comment">// to have edges()</span></div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;      BOOST_CONCEPT_ASSERT ((IncidenceGraphConcept&lt;Graph&gt;));                                  <span class="comment">// to have source(), target() and out_edges()</span></div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;      BOOST_CONCEPT_ASSERT ((ReadablePropertyMapConcept&lt;EdgeWeightMap, EdgeDescriptor&gt;));     <span class="comment">// read weight-values from edges</span></div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;      BOOST_CONCEPT_ASSERT ((ReadWritePropertyMapConcept&lt;VertexColorMap, VertexDescriptor&gt;)); <span class="comment">// read and write color-values from vertices</span></div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160; </div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;      <a class="code" href="classpcl_1_1segmentation_1_1detail_1_1_random_walker.html">::pcl::segmentation::detail::RandomWalker</a></div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;      &lt;</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;        Graph,</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;        EdgeWeightMap,</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;        VertexColorMap</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;      &gt;</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;      rw (graph, weights, colors);</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;      <span class="keywordflow">return</span> rw.segment ();</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;    }</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160; </div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">class</span> Graph, <span class="keyword">class</span> EdgeWeightMap, <span class="keyword">class</span> VertexColorMap&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    randomWalker (Graph&amp; graph,</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;                  EdgeWeightMap weights,</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;                  VertexColorMap colors,</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;                  Eigen::Matrix&lt;<span class="keyword">typename</span> boost::property_traits&lt;EdgeWeightMap&gt;::value_type, Eigen::Dynamic, Eigen::Dynamic&gt;&amp; potentials,</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;                  std::map&lt;<span class="keyword">typename</span> boost::property_traits&lt;VertexColorMap&gt;::value_type, <span class="keywordtype">size_t</span>&gt;&amp; colors_to_columns_map)</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;    {</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;      <span class="keyword">using namespace </span>boost;</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160; </div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> graph_traits&lt;Graph&gt;::edge_descriptor EdgeDescriptor;</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> graph_traits&lt;Graph&gt;::vertex_descriptor VertexDescriptor;</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160; </div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;      BOOST_CONCEPT_ASSERT ((VertexListGraphConcept&lt;Graph&gt;));                                 <span class="comment">// to have vertices(), num_vertices()</span></div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;      BOOST_CONCEPT_ASSERT ((EdgeListGraphConcept&lt;Graph&gt;));                                   <span class="comment">// to have edges()</span></div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;      BOOST_CONCEPT_ASSERT ((IncidenceGraphConcept&lt;Graph&gt;));                                  <span class="comment">// to have source(), target() and out_edges()</span></div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;      BOOST_CONCEPT_ASSERT ((ReadablePropertyMapConcept&lt;EdgeWeightMap, EdgeDescriptor&gt;));     <span class="comment">// read weight-values from edges</span></div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;      BOOST_CONCEPT_ASSERT ((ReadWritePropertyMapConcept&lt;VertexColorMap, VertexDescriptor&gt;)); <span class="comment">// read and write color-values from vertices</span></div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160; </div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;      <a class="code" href="classpcl_1_1segmentation_1_1detail_1_1_random_walker.html">::pcl::segmentation::detail::RandomWalker</a></div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;      &lt;</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;        Graph,</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;        EdgeWeightMap,</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;        VertexColorMap</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;      &gt;</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;      rw (graph, weights, colors);</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;      <span class="keywordtype">bool</span> result = rw.segment ();</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;      rw.getPotentials (potentials, colors_to_columns_map);</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;      <span class="keywordflow">return</span> result;</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;    }</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160; </div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;  }</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160; </div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;}</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160; </div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_SEGMENTATION_IMPL_RANDOM_WALKER_HPP */</span><span class="preprocessor"></span></div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1segmentation_1_1detail_1_1_random_walker_html"><div class="ttname"><a href="classpcl_1_1segmentation_1_1detail_1_1_random_walker.html">pcl::segmentation::detail::RandomWalker</a></div><div class="ttdoc">Multilabel graph segmentation using random walks.</div><div class="ttdef"><b>Definition:</b> random_walker.hpp:66</div></div>
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